JP2023517228A - Multi-angle imaging platform - Google Patents

Abstract

A control system and method for achieving fine angular control in small diameter devices. An imaging device with a multi-angle imaging platform is provided. In some embodiments, a flexible printed circuit board (PCB) comprises conductors and a camera angle activator pivot for rotating the camera head. In some embodiments, a ball and socket joint is used to rotate the camera head within the distal end of the elongated shaft. In some embodiments, a spring mechanism is used to rotate the camera head within the distal end of the elongated shaft. In some embodiments, the viewing angle of the imager is adjusted by movement of the inner tube relative to the outer tube and corresponding adjustment of flexible printed circuit boards (PCBs), ball and socket joints, and/or spring mechanisms. be done. [Selection drawing] Fig. 12

Description

A continuous multi-angle head embodiment is presented that uses both an imaging device and an elongated shaft to enter the anatomical region of interest. Advantages provided by the present disclosure include allowing multiple views of the examination area using a single straight endoscope with an imaging device internally rotating within its distal tip. The present disclosure provides fiber optic quality images without a fiber optic system and provides an improved system to provide wide viewing angle visibility with a small outer diameter for a variety of applications. The multi-angle imaging platform can be used in various surgical procedures such as arthroscopic, sinus (ENT), gastrointestinal, abdominal, cranial, and/or laparoscopic surgery. The multi-angle imaging platform can be used for arthroscopy of joints during surgery. A multi-angle imaging platform can be used, for example, in laparoscopic gallbladder surgery. The multi-angle imaging platform can be used, for example, in urological applications such as urology and cervicography. In some embodiments, the multi-angle imaging platform can be used in surgeries involving the use of surgical robots. In other embodiments, the multi-angle imaging platform can be used in commercial or industrial settings such as industrial process monitoring, building inspection, and covert video surveillance of human activity.

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 62/987,631, filed March 10, 2020, which is hereby incorporated by reference in its entirety. shall be assumed.

Some embodiments of the present disclosure include use in capsule endoscopy applications.

Some embodiments of the present disclosure include a multi-angle endoscope having a distal tip including an imaging device, a light pipe surrounding the imaging device, a distal tip and a proximal endoscope. and an elongated shaft between the handle ends. The proximal handle end has a pivot grip that rotates the imaging device approximately 360° in the field of view. The proximal handle end further includes an adjustable camera pivot arm. In some embodiments, the adjustable camera pivot arm has detents every 15 degrees. In some embodiments, the adjustable camera pivot arm rotates the camera head from 0° to 60°. In some embodiments, the adjustable camera pivot arm rotates the camera head between 0° and 90°. In some embodiments, the adjustable camera pivot arm pivots with infinite stops. The proximal handle end can further comprise a record button for initiating imaging detection at the distal end of the device.

In some embodiments, a flexible printed circuit board (PCB) comprises conductors and a camera angle activator pivot for rotating the camera head. In some embodiments, a ball and socket joint is used to rotate the camera head within the distal end of the elongated shaft. In some embodiments, a spring mechanism is used to rotate the camera head within the distal end of the elongated shaft. In some embodiments, the viewing angle of the imager is adjusted by movement of the inner tube relative to the outer tube and corresponding adjustment of flexible printed circuit boards (PCBs), ball and socket joints, and/or spring mechanisms. be done. In some embodiments, the camera angle activator pivot is positioned horizontally with respect to the longitudinal axis of the elongated shaft and at the distal end of the inner barrel that secures one end of the base of the imager during rotation. Attached rod.

In some embodiments, the imaging device can comprise a lens system positioned distal to the camera imaging element. In some embodiments, the imager is a complementary metal oxide semiconductor (CMOS) camera imager. In some embodiments the imaging device is an ultrasound probe. In some embodiments, the imaging device comprises one or more LED lights. In some embodiments, one or more LED lights are positioned proximal to the light pipe. In some embodiments, the imaging device can include one or more selected from the group comprising a CMOS camera, an ultrasound probe, and a set of LED lights.

In some embodiments, the light pipe may concentrically surround the imager.

In some embodiments, the outer diameter of the elongated shaft of the imaging platform can be 10 mm or less, 6 mm or less, or 4 mm or less. In some embodiments, the wall thickness of the elongate shaft is 2 mm or less, 1 mm or less, or 0.5 mm or less. In some embodiments, the outer diameter of the distal tip of the imaging platform can be 10 mm or less, 6 mm or less, or 4 mm or less. In some embodiments, an OmniVision imager or similar imager may be used as the imager. The size of the imager array and the overall dimensions of the imager affect the diameter of the elongated shaft and are dependent on the imaging application (gastroenterology, laparoscopy, arthroscopy, urology, ENT, etc.). In some embodiments, stereoscopic imaging can be depicted by using a second imaging device at the distal end of the elongated shaft.

In some embodiments, the elongated shaft comprises one or more selected from the list including plastic and stainless steel. In some embodiments, the elongated shaft includes an optical dome at its distal end. In some embodiments, the optical dome is used to allow clear visualization of the area under inspection proximate the distal end of the elongated shaft as the imaging device is rotated according to various embodiments of the present disclosure. , is configured around the entirety of the distal end portion. In some embodiments, the elongated shaft further comprises one or more working channels for inserting ancillary instruments such as graspers, suction, suction, insufflation, and the like.

In some embodiments, the multi-angle imaging platform is autoclavable. In some embodiments, the multi-angle imaging platform is a single-use, disposable device.

1 is a perspective view of a multi-angle imaging device according to one embodiment of the present disclosure; FIG. [0014] Fig. 4 is a photograph of a camera imager and lens system for size comparison with a dime, according to one embodiment of the present disclosure; FIG. 10 is a photograph of a camera imager and lens system for size comparison with a finger, according to an embodiment of the present disclosure; FIG. [0014] Fig. 4 is a photograph of a camera imager and lens system for size comparison with a dime, according to one embodiment of the present disclosure; [00100] Fig. 10 illustrates a proximal handle portion of a multi-angle imaging device, in accordance with an embodiment of the present disclosure; [00101] Fig. 10B is a side view of the distal end portion of a multi-angle imaging device positioned at a 0[deg.] angle with respect to the longitudinal axis of the elongated shaft and showing movement of the inner barrel relative to the outer barrel, in accordance with an embodiment of the present disclosure; [00103] Fig. 13B is a side view of the distal end portion of a multi-angle imaging device positioned at a 30[deg.] angle with respect to the longitudinal axis of the elongated shaft, in accordance with one embodiment of the present disclosure; [0014] Fig. 4 is a cross-sectional view of the distal end of a multi-angle imaging device comprising an inner barrel, an outer barrel, and a flexible printed circuit board (PCB) according to one embodiment of the present disclosure; [0014] Fig. 4 is a perspective view of the distal end of a multi-angle imaging device, according to one embodiment of the present disclosure; [0014] Fig. 4 is a cross-sectional view of the distal end of a multi-angle imaging device, according to one embodiment of the present disclosure; [00101] Fig. 10B is a cross-sectional view of the distal end of a multi-angle imaging device positioned along the longitudinal axis of an elongated shaft (at 0° from the longitudinal axis) in accordance with one embodiment of the present disclosure; [00103] Fig. 13A is a cross-sectional view of the distal end of a multi-angle imaging device positioned at a 45[deg.] angle with respect to the longitudinal axis of the elongated shaft, in accordance with one embodiment of the present disclosure; [00103] Fig. 13B is a cross-sectional view of the distal end of a multi-angle imaging device positioned at a 70[deg.] angle with respect to the longitudinal axis of the elongated shaft, in accordance with an embodiment of the present disclosure; [0014] Fig. 4 is a perspective view of the distal end of a multi-angle imaging device, according to one embodiment of the present disclosure; [00101] Fig. 10 is a perspective view of the distal end of a multi-angle imaging device positioned along the longitudinal axis of an elongated shaft (at 0° from the longitudinal axis) in accordance with one embodiment of the present disclosure; [00100] Fig. 10 is a perspective view of the distal end of a multi-angle imaging device positioned at a 45[deg.] angle with respect to the longitudinal axis of the elongated shaft, according to one embodiment of the present disclosure; [00100] Fig. 10 is a perspective view of the distal end of a multi-angle imaging device positioned at a 70[deg.] angle with respect to the longitudinal axis of the elongated shaft, according to one embodiment of the present disclosure; [00103] Fig. 100 is a cross-sectional view of the distal end of a multi-angle imaging device comprising an inner barrel, an outer barrel, and a tension spring, according to one embodiment of the present disclosure; [0014] Fig. 4A is a cross-sectional view of the distal end of a multi-angle imaging device comprising an inner barrel, an outer barrel, and a ball and socket joint, according to one embodiment of the present disclosure; 1 is an isometric view of basic elements of a laparoscopic skills training system, according to one embodiment of the present disclosure; FIG.

These features of the present embodiments will be better understood upon reading the following detailed description with reference to the accompanying drawings. The accompanying drawings are not necessarily drawn to scale. Not all components are labeled in each drawing for clarity.

The following description is merely exemplary in nature and is not intended to limit the disclosure, application, or uses of the present application.

It would be desirable to have a small diameter multi-angle imaging platform that allows for a variety of viewing angles in a narrow aisle of the area under inspection. The multi-angle imaging platform includes a multi-angle imaging device 30 with various embodiments for adjusting the viewing angle and barrel angle of a camera or imager located at the distal tip of the multi-angle imaging device 30. Presented herein. FIG. 1 is a perspective view of a multi-angle imaging device 30 comprising an imaging element 120 positioned on a multi-angle platform 300 at a distal end 90. FIG. A pivot lever 150 is located at the proximal end 190 of the multi-angle imager and is adapted to be grasped by the user's hand. A pivot lever 150 rotates the multi-angle platform 300 to change the angle α of the viewing axis 75 between 0° and 70°. In some embodiments, pivot lever 150 includes detents every 15 degrees to facilitate actuation. In operation, pivot lever 150 clicks into each detent position. The pivot handle 140 is adapted to be grasped by the user's hand and is located at the proximal end 190 of the multi-angle imaging device 30 . The pivot handle 140 rotates the viewing angle of the distal end approximately 360° with a field of view of approximately 120° at each rotational position. Pivot handle 140 is rotated to rotate video camera 63 or imager 120 about barrel axis 39 . The relationship between movement of pivot handle 140 and viewing angle can be 1:1, less than 1:1, or greater than 1:1. The higher the ratio, the greater the movement of the field of view, eg, 120° movement of the pivot handle 140 can result in 360° movement of the viewing angle. The smaller the ratio, the more precisely the viewing angle can be controlled. For example, moving the pivot handle 140 120 degrees changes the viewing angle by 40 degrees more precisely. These different ratios can be realized, for example, by mechanical connections such as gears and pulleys, or can be changed electronically.

2A-2C are photographs of one embodiment of lens system 110, camera imager 120, and light emitting diode 130 for size comparison to a dime and fingertip. In some embodiments, the combined length L of lens system 110, camera imager 120, and light emitting diode 130 is between 2 mm and 5 mm, between 2 mm and 3 mm, or between 3 mm and 4 mm.

The components and operation of one embodiment of the multi-angle imaging device 30 can be described with reference to FIGS. 3 and 4 and 5, which show housing 31 with handle 33 and outer barrel 35 fitted therein. Outer barrel 35 has a first end that fits into housing 31 as shown in FIG. and a second end having an end 37 . The inner barrel 61 is slidably held within the outer barrel 35 . As shown in FIG. 4, inner barrel 61 is longer in length than outer barrel 35 .

In the example shown in FIG. 3, video electronics module 60 is mounted at a first end of inner barrel 61 . A video camera 63 or imager 120 is attached to the second end of the inner barrel 61 (see, eg, FIGS. 4-6). In some embodiments, an electronic cable 45 runs inside inner barrel 61 to transmit electronic digital image data from video camera 63 or image sensor 120 to video electronics module 60 . In some embodiments, electronic digital image data is transmitted along elongated shaft 170 of multi-angle imaging device 30 via flexible printed circuit board 250 . Flexible printed circuit board 250 is comprised of electrical conductors 255 that allow electrical signals to flow along elongated shaft 170 . In some embodiments, the output cable 65 can be electrically connected to the output of the video electronics module 60 to display the image 13 and any electronically generated crosshairs 15 on the display device 11. (See Figure 14). Video electronics module 60 may include switches 67 and 69 for starting a countdown timer and an elapsed time timer (not shown), eg, for use in training sessions (see FIG. 14).

In some embodiments, the multi-angle imaging device 30 can be used with tools for laparoscopic training, such as shown in FIG. Laparoscopic skills training system 10 includes trainer platform assembly 20 comprising training platform 21 , base 23 , left support 25 and right support 27 . Here, trainer platform assembly 20 is secured to base 23 by left support 25 and right support 27 . A display device 11 , such as a laptop or computer monitor, can be positioned on or near the trainer platform assembly 20 . Platform surface 40 may further include left port 41 and right port 43 .

In the first mode of operation of the training module, camera navigation skills are enhanced. In the first mode of operation, the optical axis of the video camera 63 or imager 120 is substantially aligned with the barrel axis 39 or "0° axis". When performing the first skill set using the laparoscopic skill training system 10, the user inserts the training endoscope 30 through the simulated skin 19 through the endoscopic opening 17 into the workspace 29. start from. In a second mode of operation, as shown in FIG. Inner barrel 61 is moved rearward within outer barrel 35 . This pivots the imager 63 at an angle α° relative to the barrel axis so that the optical axis of the imager 63 is oriented along the angled field axis 75 as shown in FIG. In the embodiments described herein, the angle α is, for example, 0°-70°, 0°-10°, 0°-30°, 0°-45°, 15°-30°, 30°-45° ° or can vary from 45° to 70°. Angle α can be adjusted using pivot lever 150 .

FIG. 4 is a side view of the distal end portion of multi-angle imaging device 30, showing movement of the inner barrel relative to the outer barrel and the imaging device positioned at a 0° angle to the longitudinal axis of elongated shaft 170. FIG. showing. FIG. 5 is a side view of the distal end portion of multi-angle imaging device 30 showing the imaging device positioned at a 30° angle to the longitudinal axis of elongated shaft 170 . 4 and 5 illustrate that when inner barrel 61 is moved rearwardly within outer barrel 35, imager 63 rotates to position itself against beveled barrel end 37 of outer barrel 35. , shows the resilient member 47 located within the inner barrel 61 and attached to the imaging device 63 . In this embodiment, the angle β of the angled barrel end 37 directly affects the angle of the viewing axis 75 . When latch button 71 (shown in FIG. 3) is depressed, inner barrel 61 is free to move forward within outer barrel 35 . As the inner barrel 61 moves forward within the outer barrel 35, the imager 63 or imager 120 returns to the first mode of operation and the optical axis is again aligned with the barrel axis 39 or the 0° axis. .

Rotation of the pivot lever 150 about the pivot point can cause linear motion of the inner barrel and, in turn, angular motion of the imager. In one embodiment, the user can continuously vary the angle α of the imaging device 63 during inspection of the inspection target area. In some embodiments, detents are provided on pivot lever 150 for viewing at regular intervals of, for example, 5°, 10°, 15°, 20°, or 30°. In this embodiment, inner barrel 61 may be provided with a position indicator (not shown). This allows adjusting the linear sliding movement of the inner barrel within the outer barrel 35 to position the imager 63 at various angles, depending on which position of the inner barrel position indicator is visible at the end of the outer barrel 35. be able to.

6 is a cross-sectional view of the distal end of multi-angle imaging device 30, including inner barrel 61, outer barrel 35, and flexible printed circuit board 250. FIG. The lens system 110 of the illustrated embodiment is placed over the imager 120 . The LED lights 130 are installed below the light pipes 260 . In some embodiments, light pipe 260 and LED light 130 extend circumferentially around imager 120 and lens system 110 . Manipulation of pivot lever 150 toward proximal end 190 moves angular activator pivot 240 distally, straightens flexible printed circuit board 250, and adjusts viewing angle α. In the embodiment shown in FIG. 6, angular activator pivot 240 extends distally and imaging element 120 is positioned such that field axis 75 extends through top edge 205 of dome cap 210 . As the user rotates the pivot handle 140, the cylindrical rotation platform 230 rotates. In various embodiments, the pivot handle 140 can be directly mechanically coupled to the cylindrical rotating platform 230, can be coupled by gears or pulleys, or can be electronically coupled. The outer diameter (OD) of elongate shaft 170 can be, for example, less than 20 mm, less than 10 mm, less than 6 mm, less than 4 mm, less than 3 mm, 3 mm to 20 mm, 4 mm to 10 mm, 4 mm to 6 mm, or 6 mm to 20 mm.

7 is a perspective view of the distal end of multi-angle imaging device 30. FIG. Multi-angle platform 300 is housed within dome cap 210 . In some embodiments, the dome cap 210 can be transparent and optionally a low refractive index material. Low refractive index materials can include, for example, transparent fluorinated polymers or glasses having refractive indices less than 1.6, less than 1.55, less than 1.5, or less than 1.45. In some embodiments, the transparent portion extends beyond the dome cap so that the camera's view is not obstructed by the opaque outer sleeve. In the embodiment shown in FIG. 7, the distal end of lens system 110 is square and light pipe 260 is positioned to surround lens system 110 . Cylindrical rotation platform 230 is manipulated by pivot handle 140 to rotate imager 120 about barrel axis 39 . Multi-angle platform 300 pivots about camera module mounting axis 220 by operating pivot lever 150 . In some embodiments, camera module mounting axis 220 serves as a hinge point for multi-angle platform 300 during field-of-view axis 75 manipulation.

FIG. 8 is a cross-sectional view of the distal end of multi-angle imager 30 showing barrel axis 39 and field-of-view axis 75 .

9A-C and 11A-C show cross-sectional and perspective views, respectively, of the distal end of multi-angle imaging device 30. FIG. Here, the imaging element 120 is arranged at an angle of about 45° with respect to the barrel axis 39 from a position coinciding with the barrel axis 39, and a position at an angle of about 70° with respect to the barrel axis 39. change to

FIG. 10 is a perspective view of the distal end of multi-angle imaging device 30 with field axis 75 aligned with barrel axis 39 .

12 is a cross-sectional view of distal end 90 of multi-angle imaging device 30, including inner barrel 61, outer barrel 35, and tension spring 270. FIG. During operation of pivot lever 150 , tension spring 270 increases in tension, pulling inner barrel 61 back into outer barrel 35 . When tension is applied, the outer lip 155 of the multi-angle platform 300 contacts the slanted barrel end 37 of the outer barrel 35 , changing the angle of the multi-angle platform 300 and thereby adjusting the viewing axis 75 . In some embodiments, manipulating pivot lever 150 toward proximal end 190 increases tension in tension spring 270 . In the embodiment shown in FIG. 12, the imager 120 is centrally located on the multi-angle platform 300 and the LED lights 130 surround the imager 120 .

13 is a cross-sectional view of distal end 90 of multi-angle imaging device 30, including inner barrel 61, outer barrel 35, and ball joint 200. FIG. During operation of pivot lever 150 , inner barrel 61 is pulled back into outer barrel 35 . As the inner barrel 61 is pulled further back into the outer barrel 35, the outer lip 155 of the multi-angle platform 300 contacts the slanted barrel end 37 of the outer barrel 35, changing the angle of the multi-angle platform 300 thereby changing the viewing axis. 75 is adjusted. In the embodiment shown in FIG. 13, the imager 120 is centrally located on the multi-angle platform 300 and the LED lights 130 surround the imager 120 .

The foregoing description of embodiments of the present disclosure has been presented for purposes of illustration and is not intended to be exhaustive or to limit the claims to the exact configuration disclosed. Many modifications and variations can be made by those skilled in the art in light of the above disclosure.

The language used in the specification has been chosen primarily for readability and comprehension purposes, and not to describe or limit the subject matter of the invention. Accordingly, the scope of the present disclosure is to be limited not by this detailed description of the invention, but by any claims set forth herein. Accordingly, the disclosure of the embodiments is intended to be illustrative, not limiting, of the scope of the disclosure, which is set forth in the following claims.

10 Laparoscopic Skills Training System 11 Display Device 13 Image 15 Crosshair 17 Endoscopic Opening 19 Simulated Skin 20 Trainer Platform Assembly 21 Training Platform 23 Base 25 Left Support 27 Right Support 29 Workspace 30 Multi-Angle Imager (for training) Endoscope)
31 housing (endoscope housing)
33 Handle 35 Outer Barrel 37 Beveled Barrel End 39 Barrel Axis 40 Platform Face 41 Left Port 43 Right Port 45 Electronic Cable 47 Elastic Member 60 Video Electronic Module 61 Inner Barrel 63 Video Camera (Imager)
65 output cable 67, 69 switch 71 latch button 73 end 75 field axis 90 distal end 110 lens system 120 imager (camera imager)
130 Light emitting diode (LED light)
140 Pivot Handle 150 Pivot Lever 155 Outer Lip 170 Elongated Shaft 190 Proximal End 200 Ball Joint 205 Upper Rim 210 Dome Cap 220 Camera Module Mounting Axle 230 Cylindrical Rotation Platform 240 Angle Activator Pivot 250 Flexible Printed Circuit Board 255 Electrical Conductor 260 Light Pipe 270 Tension spring 300 Multi-angle platform

Claims (20)

an outer barrel;
an inner barrel slidably retained within the outer barrel;
an elongated shaft containing therein the inner barrel and the outer barrel;
an imaging device mounted at the distal end of the elongated shaft for producing a digital image;
a flexible printed circuit board (PCB) operably attached to the inner barrel and moved by movement of the inner barrel, the movement causing rotation of the imaging device;
an electronic module connected to the multi-angle platform for receiving the digital images from the imaging device;
and a display device operably connected to said electronic module for displaying said digital images from said imaging device. 2. The multi-angle imager of claim 1, further comprising a camera angle activator pivot located at the distal end of said inner barrel for controlling rotation of said imager. The multi-angle imaging device of Claim 1, wherein said imaging device comprises at least one of a lens system, an imager, a camera imager, and an ultrasound probe. 2. The multi-angle imaging device of claim 1, wherein said elongated shaft includes a transparent dome cap at said distal end. 2. The multi-angle imager of claim 1, further comprising a light pipe concentrically surrounding said imager. 6. The multi-angle imaging device of claim 5, comprising one or more LED lights positioned proximally of said light pipe for illuminating an area of interest. 2. The multi-angle imager of claim 1, wherein said outer barrel comprises a beveled barrel end. further comprising a multi-angle platform housing the imaging device, the multi-angle platform having an outer lip that engages the angled barrel end of the outer barrel to rotate the multi-angle platform. 8. The multi-angle imaging device according to claim 7, characterized by: 9. The multi-tool of claim 8, further comprising a handle disposed at the proximal end of said elongated shaft, said handle comprising at least one of a pivot lever and a pivot handle. Angle imaging device. 10. The multi-angle imager of claim 9, wherein the pivot lever urges the inner barrel to extend distally from the outer barrel, thereby rotating the multi-angle platform. 11. The multi-angle imaging device of claim 10, wherein the pivot lever has regularly spaced detents. 10. The multi-angle imager of Claim 9, wherein said pivot handle rotates said outer barrel at least 360[deg.] about a barrel axis. an outer barrel;
an inner barrel slidably retained within the outer barrel;
a rigid elongated shaft containing the inner barrel and the outer barrel therein;
A multi-angle imaging device mounted at the distal end of the elongated shaft and comprising: an imaging device for producing digital images; A multi-angle imager comprising an outer lip that engages said slanted barrel end of said outer barrel for rotation. a flexible printed circuit board (PCB) operably attached to the inner barrel, wherein movement of the inner barrel moves the flexible printed circuit board (PCB) and causes rotation of the imager; 14. A multi-angle imaging device according to claim 13. 14. The multi-angle imaging device of Claim 13, further comprising a spring housed within said inner barrel. 14. The multi-angle imaging device of Claim 13, further comprising a ball joint housed within said inner barrel. 14. The multi of claim 13, further comprising a handle disposed on the proximal end of the elongated shaft, the handle comprising at least one of a pivot lever and a pivot handle. Angle imaging device. 18. The multi-angle imaging device of claim 17, wherein said pivot lever urges said inner barrel to extend distally from said outer barrel, thereby rotating said multi-angle platform. 19. The multi-angle imaging device of claim 18, wherein the pivot lever has regularly spaced detents. 18. The multi-angle imaging device of Claim 17, wherein said pivot handle is mechanically coupled to said outer barrel to rotate said outer barrel at least 360[deg.] about a barrel axis.

Images